CN201702776U - Manipulator for full-automatic sheet discharging machine - Google Patents

Manipulator for full-automatic sheet discharging machine Download PDF

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Publication number
CN201702776U
CN201702776U CN2010201168191U CN201020116819U CN201702776U CN 201702776 U CN201702776 U CN 201702776U CN 2010201168191 U CN2010201168191 U CN 2010201168191U CN 201020116819 U CN201020116819 U CN 201020116819U CN 201702776 U CN201702776 U CN 201702776U
Authority
CN
China
Prior art keywords
finger
handgrip
drive unit
axis drive
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CN2010201168191U
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Chinese (zh)
Inventor
陈天祥
罗云华
章青春
康金
吴梓明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Langcheng Microelectronic Equipment Co., Ltd.
Original Assignee
Dongguan Langcheng Mould Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dongguan Langcheng Mould Co Ltd filed Critical Dongguan Langcheng Mould Co Ltd
Priority to CN2010201168191U priority Critical patent/CN201702776U/en
Application granted granted Critical
Publication of CN201702776U publication Critical patent/CN201702776U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to a manipulator for a full-automatic sheet discharging machine, which comprises a movable driving device, an arm and a gripper device, wherein the movable driving device comprises a Y-axis driving device, and an X-axis driving device vertically arranged on the Y-axis driving device, wherein the X-axis driving device and the Y-axis driving device are connected through a vertical slider, the X-axis driving device is provided with a horizontal slider, the arm comprises a support plate, a lifting cylinder and a movable plate, wherein the support plate is fixed on the horizontal slider, the lifting cylinder is arranged on the upper end of the support plate, the movable plate is arranged at the lower end of the support plate, a push rod of the lifting cylinder is connected with the movable plate, and the gripper device is arranged on the movable plate. The utility model has the beneficial effects that the manipulator is adopted to automatically grip discharged material sheets, solves the problem that substrate is not contacted with hands, improves the quality when improving the production efficiency, has high translation precision and stability, and can be applicable to the products with different specifications.

Description

A kind of manipulator that is used for full-automatic screening machine
Technical field
The utility model relates to integrated circuit encapsulation technology field, especially a kind of manipulator that is used for grasping on the full-automatic screening machine substrate that is welded with IC chip.
Background technology
Integrated circuit need enter sealed in unit from chips welding and do further encapsulation after substrate, during need substrate is arranged on the stock shelf, enter sealed in unit after the heating.At present substrate is discharged into stock shelf mainly by manually finishing, this kind way has following shortcoming: 1, manual emission can contact with human body because of tablet, influences the tablet quality; Because tens bonding wires that do not wait to the hundreds of root are arranged on the every integrated circuit, the manually-operated meeting brings bonding wire distortion and electrostatic interaction, influences the quality of tablet.2, the manual emission cycle long, efficient is low and error rate is high.3, working environment is a high temperature, and is harmful.So this operation presses for a kind of minimizing labor strength, improve the quality of products and the full-automatic screening machine of productivity ratio.The industrial robot of industrial application, as manipulator, can replace staff work, though the existing mechanical hand is varied, all be to be applied to a certain field separately, specification at integrated circuit substrate is not of uniform size, varied, the existing machinery hand can not be satisfied the demand, therefore, the hand that must design a mechanism makes its extracting that can be fit to substrate discharging.
Summary of the invention
Main task of the present utility model is to overcome above-mentioned existing in prior technology defective, and a kind of manipulator that is used on the full-automatic screening machine is provided, and can improve the quality of products and the operating efficiency of full-automatic screening machine.
Further purpose of the present utility model provides a kind of manipulator that is used for full-automatic screening machine, utilizes its replaceable paw specification to be adapted to multiple product.
The technical scheme that the utility model adopted is as follows: a kind of manipulator that is used for full-automatic screening machine, it is characterized in that: described manipulator comprises mobile drive deivce, arm and gripper equipment, mobile drive deivce comprises Y-axis drive unit and the X-axis drive unit that is vertically mounted on the Y-axis drive unit, link to each other by a vertical slipper between described X-axis drive unit and the Y-axis drive unit, on the X-axis drive unit, be provided with a cross sliding clock
Arm includes gripper shoe, lift cylinder, portable plate, gripper shoe is fixed on the cross sliding clock, lift cylinder is installed in the upper end of gripper shoe, portable plate is installed in the lower end of gripper shoe, the push rod of lift cylinder is connected with portable plate, gripper equipment is installed on the portable plate, gripper equipment comprises handgrip, handgrip rotating driving device and handgrip folding driving mechanism, handgrip rotating driving device and handgrip folding driving mechanism are installed on the portable plate, the handgrip rotating driving device drives handgrip and rotates, and the handgrip folding driving mechanism drives the handgrip folding.
Described Y-axis drive unit is made of the driven unit that two covers are installed in parallel on the full-automatic screening machine frame, described X-axis drive unit is made of the driven unit that a cover is vertically mounted on the Y-axis drive unit, driven unit on the described Y-axis drive unit and the driven unit on the X-axis drive unit include guide rail, servomotor and leading screw, servomotor is installed on the guide rail, leading screw links to each other with servomotor, vertical slipper links to each other with leading screw on the Y-axis drive unit, and cross sliding clock links to each other with leading screw on the X-axis drive unit.
Described handgrip rotating driving device by the rotating shaft that links to each other with handgrip, be installed on the rotating shaft belt pulley with form by the motor that belt is connected with belt pulley, belt pulley is fixedly mounted on the portable plate by bearing and bearing block, motor is installed on the portable plate, rotating shaft is provided with coaxial axially extending bore
Described handgrip folding driving mechanism comprises cylinder, connecting rod and intermediate connector, and the piston rod of cylinder is fixedlyed connected with the intermediate connector upper end, and small end is articulated on the intermediate connector, and described connecting rod end is provided with Rotary-table,
Described handgrip comprises a fixed head, left hand refers to, the right hand refers to, preceding finger, the back finger, left hand refers to distraction plate, the right hand refers to distraction plate, preceding finger distraction plate and back finger distraction plate, the preceding finger slide block that moves forward and backward is installed below fixed head, the left hand of back finger slide block and move left and right refers to slide block, the right hand refers to slide block, front and back finger slide block is fixedlyed connected with front and back finger distraction plate accordingly, about the finger slide block accordingly with about the finger distraction plate fixedly connected, a left side, the right hand refer to distraction plate with before, one end of back finger distraction plate is fixedlyed connected with pointing accordingly, the other end all is connected with a bearing, before, between the back finger slide block with a left side, the right hand refers to be provided with between the slide block back-moving spring
Bearing on the Rotary-table that described connecting rod passes axially extending bore on the rotating shaft and connecting rod end and the left and right finger distraction plate is connected with the bearing contact on the forward and backward finger distraction plate.
Finger, back finger are equipped with two pairs before described.
Described left and right finger distraction plate and forward and backward finger distraction plate include two sections, connect by screw between two sections.
The upper end of described connecting rod is equipped with a bearing.
Described portable plate is provided with fixed block, and described motor is installed on the fixed block, is provided with pin at fixed block upside, downside.
Described portable plate is provided with wire column, and the source of the gas line of the power line of described motor and cylinder and cylinder all is fixedly mounted on the wire column.
Also be equipped with one in described portable plate lower end and detect the photoelectric sensor whether tablet is arranged on the stock shelf.
The beneficial effects of the utility model are: 1, adopt manipulator to grasp tablet automatically, solve the problem that substrate does not contact with staff, boost productivity when improving the quality.2, the connecting plate on the replaceable handgrip makes the utility model accommodate the product of multiple different size.3, adopt the mobile of servomotor controller tool hand, precision height.4, motor is installed on the fixed block, fixed block is fixedly mounted on the portable plate by pin, can guarantee that motor can left-right rotation, belt pulley and the belt pulley on the motor on the rotating shaft are on the same datum clamp face, belt is the level of state, can reduce the belt wearing and tearing like this, reduce noise.5, the connecting rod on the handgrip folding driving mechanism is provided with bearing, drives cylinder piston rod when avoiding connecting rod to rotate and rotates, and cylinder is damaged.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of gripper equipment in the utility model.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model done further being described in detail.
As shown in Figure 1, 2, a kind of manipulator that is used for full-automatic screening machine comprises mobile drive deivce 1, arm 2 and gripper equipment 3.
Mobile drive deivce 1 comprises Y-axis drive unit and the X-axis drive unit that is vertically mounted on the Y-axis drive unit, link to each other by a vertical slipper 11 between X-axis drive unit and the Y-axis drive unit, the Y-axis drive unit comprises that two covers are installed in parallel in the driven unit 12 on the full-automatic screening machine frame, the X-axis drive unit comprises that a cover is vertically mounted on the driven unit 13 on the Y-axis drive unit, the driven unit 13 of X-axis drive unit is identical with driven unit 12 structures on the Y-axis drive unit, driven unit 13 comprises guide rail 131, be installed in servomotor 132 and the leading screw 133 that links to each other with servomotor on the guide rail 131, on the X-axis drive unit, be provided with a cross sliding clock 14, on cross sliding clock 14, be installed with the arm 2 of manipulator, vertical slipper 11 links to each other with leading screw on the X-axis drive unit, and cross sliding clock 14 links to each other with leading screw on the Y-axis drive unit.Drive screw mandrel by the servomotor on X-axis drive unit and the Y-axis drive unit and rotate, drive cross sliding clock 14 and vertical slipper 11 and move, thereby arm is moved on X-axis, Y-axis.
Arm 2 includes gripper shoe 21, lift cylinder 22, portable plate 23, gripper shoe 21 is fixed on the cross sliding clock 14, lift cylinder 22 is installed in the upper end of gripper shoe 21, portable plate 23 is installed in the lower end of gripper shoe 21, the push rod 24 of lift cylinder 22 is connected with portable plate 23, gripper equipment 3 is installed on the portable plate 23, gripper equipment 3 comprises handgrip, handgrip rotating driving device and handgrip folding driving mechanism, handgrip rotating driving device and handgrip folding driving mechanism are installed on the portable plate 23, the handgrip rotating driving device drives handgrip and rotates, and the handgrip folding driving mechanism drives the handgrip folding.The photoelectric sensor 26 of intelligent reflection-type also is installed in portable plate 23 lower ends, and whether stock shelf on have tablet exist, prevent lamination if can detect.Lift cylinder 22 moves downwards, and portable plate 23 is moved downward, and the push rod 24 of lift cylinder 22 resets, and then portable plate moves upward.
The handgrip rotating driving device by the rotating shaft 311 that links to each other with handgrip, be installed on the rotating shaft 311 belt pulley 312 with form by the motor 314 that belt 313 is connected with belt pulley, belt pulley 312 is fixedly mounted on the portable plate 23 by bearing and bearing block, motor 314 is installed on the portable plate 23, and rotating shaft 311 is provided with coaxial axially extending bore.Be provided with fixed block 231 on portable plate 23, motor 314 is installed on the fixed block 231, is provided with pin at fixed block 231 upsides, downside.Rotate drive rotating shaft 311 by motor and rotate, and then make the handgrip rotation.Also be provided with wire column 25 on portable plate, the source of the gas line of the power line of motor and cylinder and cylinder all is fixedly mounted on the wire column 25.
The handgrip folding driving mechanism comprises cylinder 321, connecting rod 322 and intermediate connector 323, the piston rod of cylinder 321 is fixedlyed connected with intermediate connector 323 upper ends, connecting rod 322 upper ends and intermediate connector 323 articulate, and one bearing 324 is installed in connecting rod 322 upper ends, intermediate connector 323 is provided with a cavity, bearing 324 is located in the chamber, and the end of connecting rod 322 is provided with Rotary-table 325.
Handgrip comprises a fixed head 331, left hand refers to 332, the right hand refers to 333, preceding finger 334, the back finger, left hand refers to distraction plate 335, the right hand refers to distraction plate 336, preceding finger distraction plate and back finger distraction plate, preceding finger, the back finger is equipped with two pairs, the preceding finger slide block that moves forward and backward is installed below fixed head, the left hand of back finger slide block and move left and right refers to slide block 337, the right hand refers to slide block 338, front and back finger slide block is fixedlyed connected with front and back finger distraction plate accordingly, about the finger slide block accordingly with about the finger distraction plate fixedly connected, a left side, the right hand refer to distraction plate with before, one end of back finger distraction plate is fixedlyed connected with pointing accordingly, the other end all is connected with a bearing 339, before, between the back finger slide block with a left side, the right hand refers to be provided with between the slide block back-moving spring, a left side, the right hand refer to distraction plate with before, back finger distraction plate includes two sections, connect by screw between two sections, preceding, after, a left side, the right hand refers to be provided with in the slide block linear bearing, each links to each other each linear bearing with a circular shaft, and circular shaft is fixed on the fixed head 331 through assembly.
Bearing on the Rotary-table 325 that connecting rod 322 passes axially extending bore on the rotating shaft and connecting rod 322 ends and the left and right finger distraction plate is connected with the bearing contact on the forward and backward finger distraction plate.Be provided with a linear bearing in the finger slide block of front, rear, left and right, each links to each other each linear bearing with a circular shaft, and circular shaft is fixed on the fixed head 331 through assembly.
Operation principle of the present utility model is: move the front, rear, left and right of the mobile drive deivce realization handgrip of manipulator; Lift cylinder action on the arm realizes moving up and down of handgrip; Handgrip rotating driving device on the gripper equipment and handgrip folding driving mechanism are realized the rotation of handgrip and the folding of handgrip respectively.When there was tablet the crawl position on the full-automatic screening machine, manipulator then moved to the crawl position, and tablet is grasped in the back that descends, and rises then, moves to assigned address, and decline is unclamped, so circulation.

Claims (9)

1. manipulator that is used for full-automatic screening machine, it is characterized in that: described manipulator comprises mobile drive deivce, arm and gripper equipment, mobile drive deivce comprises Y-axis drive unit and the X-axis drive unit that is vertically mounted on the Y-axis drive unit, link to each other by a vertical slipper between X-axis drive unit and the Y-axis drive unit, on the X-axis drive unit, be provided with a cross sliding clock
Arm includes gripper shoe, lift cylinder, portable plate, gripper shoe is fixed on the cross sliding clock, lift cylinder is installed in the upper end of gripper shoe, portable plate is installed in the lower end of gripper shoe, the push rod of lift cylinder is connected with portable plate, gripper equipment is installed on the portable plate, gripper equipment comprises handgrip, handgrip rotating driving device and handgrip folding driving mechanism, handgrip rotating driving device and handgrip folding driving mechanism are installed on the portable plate, the handgrip rotating driving device drives handgrip and rotates, and the handgrip folding driving mechanism drives the handgrip folding.
2. the manipulator that is used for full-automatic screening machine according to claim 1, it is characterized in that: described Y-axis drive unit is made of the driven unit that two covers are installed in parallel on the full-automatic screening machine frame, described X-axis drive unit is made of the driven unit that a cover is vertically mounted on the Y-axis drive unit, driven unit on the described Y-axis drive unit and the driven unit on the X-axis drive unit include guide rail, servomotor and leading screw, servomotor is installed on the guide rail, leading screw links to each other with servomotor, vertical slipper links to each other with leading screw on the Y-axis drive unit, and cross sliding clock links to each other with leading screw on the X-axis drive unit.
3. the manipulator that is used for full-automatic screening machine according to claim 1, it is characterized in that: described handgrip rotating driving device by the rotating shaft that links to each other with handgrip, be installed on the rotating shaft belt pulley with form by the motor that belt is connected with belt pulley, belt pulley is fixedly mounted on the portable plate by bearing and bearing block, motor is installed on the portable plate, rotating shaft is provided with coaxial axially extending bore
Described handgrip folding driving mechanism comprises cylinder, connecting rod and intermediate connector, and the piston rod of cylinder is fixedlyed connected with the intermediate connector upper end, and small end is articulated on the intermediate connector, and connecting rod end is provided with Rotary-table,
Described handgrip comprises a fixed head, left hand refers to, the right hand refers to, preceding finger, the back finger, left hand refers to distraction plate, the right hand refers to distraction plate, preceding finger distraction plate and back finger distraction plate, the preceding finger slide block that moves forward and backward is installed below fixed head, the left hand of back finger slide block and move left and right refers to slide block, the right hand refers to slide block, front and back finger slide block is fixedlyed connected with front and back finger distraction plate accordingly, about the finger slide block accordingly with about the finger distraction plate fixedly connected, a left side, the right hand refer to distraction plate with before, one end of back finger distraction plate is fixedlyed connected with pointing accordingly, the other end all is connected with a bearing, before, between the back finger slide block with a left side, the right hand refers to be provided with between the slide block back-moving spring
Bearing on the Rotary-table that described connecting rod passes axially extending bore on the rotating shaft and connecting rod end and the left and right finger distraction plate is connected with the bearing contact on the forward and backward finger distraction plate.
4. the manipulator that is used for full-automatic screening machine according to claim 3 is characterized in that: finger, back finger are equipped with two pairs before described.
5. the manipulator that is used for full-automatic screening machine according to claim 3 is characterized in that: described left and right finger distraction plate and forward and backward finger distraction plate include two sections, connect by screw between two sections.
6. the manipulator that is used for full-automatic screening machine according to claim 3 is characterized in that: the upper end of described connecting rod is equipped with a bearing.
7. the manipulator that is used for full-automatic screening machine according to claim 3 is characterized in that: described portable plate is provided with fixed block, and described motor is installed on the fixed block, is provided with pin at fixed block upside, downside.
8. the manipulator that is used for full-automatic screening machine according to claim 3 is characterized in that: described portable plate is provided with wire column, and the source of the gas line of the power line of described motor and cylinder and cylinder all is fixedly mounted on the wire column.
9. be used for the manipulator of full-automatic screening machine according to described any of claim 1-8, it is characterized in that: also be equipped with one in described portable plate lower end and detect the photoelectric sensor whether tablet is arranged on the stock shelf.
CN2010201168191U 2010-02-09 2010-02-09 Manipulator for full-automatic sheet discharging machine Expired - Lifetime CN201702776U (en)

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CN102306574A (en) * 2011-03-30 2012-01-04 黄道铭 Press-mounting device of automatic assembler for automobile glass hoist switch
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CN102390052A (en) * 2011-10-28 2012-03-28 东莞市伟创东洋自动化设备有限公司 LCD-TV (Liquid Crystal Display-Television) automatic vertical machine manipulator
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US9233474B2 (en) 2013-06-13 2016-01-12 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Clamping apparatus
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CN108531382A (en) * 2018-05-04 2018-09-14 温岭市仁全机械设备有限公司 Chip and gene order surveying method for gene sequencing
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